Hydraulic Friction Compensation Research Based on Fuzzy and Sliding Mode Control

摘要：

Joint friction is one of the major limitations in performing high precision manipulation tasks. Friction compensation of hydraulic joint is particularly important for hydraulic driving robot to implement the accurate position and speed control. So in order to eliminate the friction made by the hydraulic joints, first the LuGre model of friction was built, and then fuzzy and sliding mode control was applied to realize the friction compensation and precise trajectory tracking of robot. At last simulation model of system was established according to the actual parameter of hydraulic system. The results of simulation proved the efficacy of control algorithm based on fuzzy and sliding mode control.

关键词： friction compensation hydraulic driving sliding mide control fuzzy control

作者: Xiuqing Yang Mingqian Du Gang Mao Yilong Qian

作者单位: Department of Logistics Technology, The Second Research Institute of CAAC, Chengdu, Sichuan, China

会议类型: 国际会议

会议名称: 2010 International Conference on Circuit and Signal Processing(2010年电路与信号处理国际会议 ICCSP 2010)

会议地点: 上海

会议语种:英文

页码: 19-23

在线出版日期: 2010-12-25（万方平台首次上网日期，不代表论文的发表时间）